In the control theory the term “system identification” is used quite often. A typical sentence in a robotics oriented paper is that the author is trying to “build a model of a plant with matlab”. The ...

I would like to control a system which orientation I measure with as quaternion based EKF in one degree of freedom. Obviously the simplest thing would be to convert the quaternion estimate to euler ...

I am studying the book "B. Sicilliano -Robotics. Modelling, Planning and Control" chapter 11, Input/output linearization topic. Where does the formula for theta in 11.75 come from?
In the case of the ...

The length of the link is 50 cm and the arm moves 180 degrees. Can anyone help me?
Out of the cosine theorem, $d = \ell \sqrt{2\left(\ell-cos\right)}$, I calculated the distance traveled by a linear ...

In lecture 5.5 Bouncing ball, slide 26, Coursera's Control of Mobile Robot course, how are the state space equations formed in "Equations of motion in-between bounces"? Why is [0 -g] added?
And how ...

Beam robotics invented by Mark W. Tilden is about analog circuits for controlling robots. The idea is to avoid microcontrollers and software and use instead resistors, breadboards and capacitor for ...

I want to build a 4WD robot that can travel vertically by pushing against opposite rails. The wheels push against the rails and generate friction, the robot moves upwards as the wheels rotate. This is ...

I'm trying to find a method to control a moveo 5dof arm. My goal is to calculate the right angle to turn for each stepper motor to reach a desired point in real environment. I've spent time looking at ...

For example if I want to make my quadrotor hover at a particular height, can't this be achieved by using an altitude sensor, and to correct it's position due to disturbances, can't we just write some ...

I want to implement an encrypted controller in Matlab using RSA. I am trying to replicate what is written in this scheme from 'Cyber-Security Enhancement of Networked Control Systems Using Homomorphic ...

I have a robotic arm with 6 DOF. For each joint, I get get the Joint Wrench, which is composed by the force and torque of the parent and child links of the joints. In other works, for joint 1 I can ...

In Passivity-Based Control and Estimation in Networked Robotics (among others), a passive system is defined as one that:
$$\int_0^t y^T(t)u(t) dt \geq -\beta $$
for output $y$ and input $u$.
I have ...

I have this motor, from datasheet it works on the 6-12V range and has a no load current of 0.52A, and a stall current of 20A. I want to test the motor before buying an expensive motor driver.
I have ...

We are working in a project to help blind people cross the street alone .so ,Can I create a Virtual reality wall or a holographic 3d one that is visible in the Street and in all day times ?? ( morning ...

I'm designing a PD controller so that the response due to unit step should exhibit an overshoot of 20% and steady-state error less 0.01. I've computed the parameters Kp and Kd and double-checked the ...

I'm making a robot that uses two DC motors to move, and has two distance sensors on its right side. I want to make a PID controller to control the angle of the robot (using a wall as reference) and ...

I have two questions that I think are closely related:
Why is it useful to introduce behaviors, e.g., goal-to-goal + obstacle avoidance? (The alternative would have been to just use a single behavior ...

IIUC, the recommendation here of increasing the absolute size of the real part of observer eigenvalues is based on two factors:
We want the observer to be updated as fast as possible (I suppose up to ...

A system is differentially flat if the state and control input can be written as functions of the flat outputs and their time derivatives.
In other words, if a system is differentially flat, we can ...

It seems to be taken granted that when we deal with some control system, the first thing we want to do is to linearize the system and put it in form of first order differential equations like $\dot x =...

6, because a rigid body has six degrees of freedom
4, since it is similar to a quadrotor, except with more motors
6, because there are six motors
I was taking an online quiz, and I thought option 3 ...

I'm a beginner in robotics and so far followed the lecture series by Prof. Oussama Khatib and some blogs and papers. currently I'm following this studywolf blog. in the end I plan on building a simple ...

It's not technically robotics but:
I've been trying to reproduce in Simulink a spacecraft attitude simulation using quaternions, and the kinematics and dynamics seem to work fine, however I'm having ...

I was Performing Programming Assignment with MATLAB for Quad Thrust and Height for an Introductory Course. The control input for a PD controller was According to the Equation
u = mass*(diff(s_des, 2)...

Lets say a quadrocopter's rotors are 2 feet apart, and 2 feet beneath it is attached a symmetrical, balanced payload that was x feet wide (with space for air from the rotors to move through) - if the ...

I have a case of a differential drive robot and a control system in a two-dimensional environment:
Now the problem: we would like to make our particle move from point A to point B, and from there to ...

We are using orocos on the robot we have been developing for 3 years now and I have the feeling that Orocos is no longer maintained and the mailing lists are not only no longer active but also it is ...

I'm having a sensored BLDC motor (12V version though) connected to a suitable motor controller and powered through a 25A regulated power supply With an Arduino I'm able to control the motor just fine. ...

The problem
I want to be able to move the direction a laser is pointing.
This means I need to have motorised rotation of the laser head in the x direction and in the y direction. I am unsure of the ...